KUKA Error Messages
The following errors may occur while running the Standard Interface program on the robot.
Communication Connection Error
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"ROBOT_SOCKET_TIMEOUT"
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"ROBOT_SOCKET_CLOSED"
Description
The robot communicates with the vision system by using a TCP socket connection. The above errors may occur when the socket is being opened, connected, sent, received, or closed.
Troubleshooting
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Go to How to Troubleshoot Failed Standard Interface Communications to check each configuration item in sequence.
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Please contact Mech-Mind Technical Support for further assistance.
Command Parameter Incorrect
"Robot Argument Error"
Description
One or more parameter values in the Standard Interface command are invalid.
Troubleshooting
Go to KUKA Standard Interface Commands and specify correct parameter values based on the descriptions in KUKA Standard Interface Commands.
Command Code Error
"ROBOT_CMD_ERROR"
Description
This error may occur in the following two situations.
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The Standard Interface command code sent by the foreground robot program cannot be found.
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The Standard Interface command code received by the background robot program and the command code sent by the vision system do not match.
Troubleshooting
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Make sure that the sequence of calling Standard Interface commands is correct.
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Contact the Mech-Mind technical support for further assistance.
Cannot Obtain TCP
"This pose point is empty."
Description
After MM_Get_Pose, MM_Get_PlanPose, or MM_Get_DyPose is called, the cached data corresponding to the specified index will be stored in the specified variable and then cleared. If the above command is called again, this error will occur. This means that data corresponding to the same index cannot be repeatedly retrieved.
For example, when retrieving data with an index of 1, the program has already called MM_Get_Pose(1,TcpPose1,Label1,ToolId1). If the same command MM_Get_Pose 1, TcpPose1, Label1, ToolId1; is called again later, this error will be triggered.
Troubleshooting
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If you do not need to rerun the project to retrieve data by using the program, do not retrieve the data of the same index.
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After an abnormal robot program run, ensure the program is fully reset to prevent issues caused by data from the previous run.
Cannot Obtain Joint Positions
"This JPS point is empty"
Description
This error may occur in the following two situations.
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Situation 1:
After MM_Get_Jps or MM_Get_PlanJps is called, the cached data corresponding to the specified index will be stored in the specified variable and then cleared. If the above command is called again, this error will occur. This means that data corresponding to the same index cannot be repeatedly retrieved.
For example, when retrieving data with an index of 1, the program has already called “MM_Get_Jps 1 ,JpsPose1,Label1,ToolId1;”. If the same command MM_Get_Jps(1,JpsPose1,Label1,ToolId1) is called again later, this error will be triggered.
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Situation 2:
The above error may occur if the robot joint positions are [0,0,0,0,0,0].
Troubleshooting
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Situation 1:
If you do not need to rerun the project to retrieve data by using the program, do not retrieve the data of the same index.
After an abnormal robot program run, ensure the program is fully reset to prevent issues caused by data from the previous run.
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Situation 2:
Make sure that no joint positions are [0,0,0,0,0,0].
Abnormal Status Code
"XXXX" (such as 1001, 2001, 3001 or 7001)
Description
XXXX is the error code ID returned by the vision system.
This error code may be returned when the robot program calls a Standard Interface command.
Troubleshooting
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Go to Status Codes and Troubleshooting to find troubleshooting instructions.
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Contact the Mech-Mind technical support for further assistance.